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feat(agv): 添加AGV移动到指定点功能

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- 在ActionEnum中新增AGV_MOVE_TO_POINT枚举值
- 在FlowActionExecutorService中添加AGV移动逻辑处理
- 新增EdgeAgvOperateService实现AGV边缘操作服务
- 集成EdgeAgvService进行机器人导航控制
- 实现坐标参数解析和验证功能
- 添加AGV移动任务下发和结果返回机制
This commit is contained in:
lixiaolong 2026-06-30 15:00:25 +08:00
parent db17d50ef6
commit 0f36d8b4d1
3 changed files with 132 additions and 0 deletions
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3
cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java
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@ -63,6 +63,9 @@ public enum ActionEnum {
BIO_HEAD_SPEAK_STOP("EDGE", "BIO_HEAD_SPEAK_STOP", "停止说话"),
BIO_HEAD_SPECIAL_EXPRESSION("EDGE", "BIO_HEAD_SPECIAL_EXPRESSION", "表情，1:高兴,2:惊讶,3:疲惫"),
// --------------- agv ---------------
AGV_MOVE_TO_POINT("EDGE", "AGV_MOVE_TO_POINT", "移动到指定点"),
// 大模型行为
// ---------------获取触控坐标---------------
TOUCH_COORDINATES("LLM", "TOUCH_COORDINATES", "获取触控坐标"),

89
cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java Normal file
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@ -0,0 +1,89 @@
package com.cmvr.test.flow.runtime.operator.edge;
import cmvr.api.AgvCommand;
import com.alibaba.fastjson2.JSONObject;
import com.cmvr.common.exception.GlobalException;
import com.cmvr.edge.client.model.EdgeCommonVO;
import com.cmvr.edge.client.service.EdgeAgvService;
import com.cmvr.test.enums.ActionEnum;
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
/**
* AGV边缘操作服务
* 处理AGV相关的设备行为，如移动到指定位置
*
* @author cmvr-iot
* @since 2026-06-29
*/
@Slf4j
@Service
@RequiredArgsConstructor
public class EdgeAgvOperateService implements EdgeOperateService {
private final EdgeAgvService edgeAgvService;
@Override
public boolean supports(ActionEnum action) {
return action.name().startsWith("AGV_");
}
@Override
public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
ActionEnum action = message.getAction();
JSONObject inputParams = message.getInputParams();
String terminalId = message.getTerminalId();
// 从输入参数中获取机器人ID
String deviceId = inputParams.getString("deviceId");
if (deviceId == null || deviceId.isEmpty()) {
throw new GlobalException("机器人ID(deviceId)不能为空");
}
switch (action) {
case AGV_MOVE_TO_POINT: {
log.info("执行AGV移动到指定位置操作，机器人ID: {}", deviceId);
// 从输入参数中获取坐标信息
Double x = inputParams.getDouble("x");
Double y = inputParams.getDouble("y");
Double theta = inputParams.getDouble("theta");
String taskId = inputParams.getString("taskId");
// 参数验证
if (x == null || y == null) {
throw new GlobalException("X和Y坐标不能为空");
}
// 构建自由导航点
AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
.setX(x)
.setY(y)
.setTheta(theta != null ? theta : 0.0)
.build();
// 构建边缘端通用参数
EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
edgeCommonVO.setTerminalId(terminalId);
edgeCommonVO.setDeviceId(deviceId);
// 直接调用边缘端AGV服务执行导航
AgvCommand.RobotGoTargetResData result =
edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode());
break;
}
default:
throw new GlobalException("不支持的AGV操作类型: " + action);
}
return TaskNodeExecuteResult.success();
}
}

40
cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java
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@ -12,6 +12,7 @@ import com.cmvr.edge.client.service.EdgeCameraService;
import com.cmvr.edge.client.service.EdgeHlcService;
import com.cmvr.edge.client.service.EdgeMicrophoneService;
import com.cmvr.edge.client.service.EdgeSpeakerService;
import com.cmvr.edge.client.service.EdgeAgvService;
import com.cmvr.llm.service.LLMAiAgentPlatformService;
import com.cmvr.llm.service.LLMAiTtsService;
import com.cmvr.test.enums.ActionEnum;
@ -31,6 +32,7 @@ public class FlowActionExecutorService {
private final EdgeHlcService edgeHlcService;
private final LLMAiTtsService llmAiTtsService;
private final LLMAiAgentPlatformService llmAiAgentPlatformService;
private final EdgeAgvService edgeAgvService;
public String actionExecute(FlowActionRequestVO req) {
@ -104,6 +106,44 @@ public class FlowActionExecutorService {
edgeFacialExpressionVO.setDeviceId(deviceId);
return edgeBioHeadService.setExpression(edgeFacialExpressionVO);
// ==== AGV ====
case AGV_MOVE_TO_POINT: {
log.info("执行AGV移动到指定位置操作");
// 从payload中获取机器人ID和坐标信息
String deviceId1 = payload.getString("deviceId");
if (StrUtil.isEmpty(deviceId1)) {
throw new GlobalException("机器人ID(deviceId)不能为空");
}
Double x = payload.getDouble("x");
Double y = payload.getDouble("y");
Double theta = payload.getDouble("theta");
String taskId = payload.getString("taskId");
// 参数验证
if (x == null || y == null) {
throw new GlobalException("X和Y坐标不能为空");
}
// 构建自由导航点
cmvr.api.AgvCommand.FreeGoPoint freeGoPoint = cmvr.api.AgvCommand.FreeGoPoint.newBuilder()
.setX(x)
.setY(y)
.setTheta(theta != null ? theta : 0.0)
.build();
// 直接调用边缘端AGV服务
cmvr.api.AgvCommand.RobotGoTargetResData result =
edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode());
// 返回结果字符串
return String.format("AGV移动任务下发成功, retCode=%d, errMsg=%s",
result.getRetCode(), result.getErrMsg());
}
default:
throw new UnsupportedOperationException("未实现的 EDGE Action: " + action.name());
}